Real Time Trajectory Tracking Control of a Quadrotor Using Fractional PI Control
نویسندگان
چکیده
منابع مشابه
Quadrotor Control Using Fractional-Order PI^λ D^μ Control
Quadrotor control has been noted for its trouble as the consequence of the high maneuverability, system nonlinearity and strongly coupled multivariable. This paper deals with the simulation depend on proposed controller of a quadrotor that can overcome this trouble. The mathematical model of quadrotor is determined using a Newton-Euler formulation. Fractional Order Proportional Integral Derivat...
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The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. This paper develops an autonomous vehicle trajectory tracking algorithm through cluttered environments for the STARMAC platform. A system relying on a single optimization must ...
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In this paper, the relationship between attitude and linear acceleration of the quadrotor unmanned mini-helicopter is built and two trajectory tracking control design methodologies based on the relationship are proposed: classical inner/outer-loop control design approach and a new command filtered backstepping design strategy. Various numerical simulations demonstrate the validity of the contro...
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In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...
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During recent years there has been growing interest in unmanned aerial vehicles (UAVs). Moreover, the necessity to control and navigate these vehicles has attracted much attention from researchers in this field. This is mostly due to the fact that the interactions between turbulent airflows apply complex aerodynamic forces to the system. Since the dynamics of a quadrotor are non-linear and the ...
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ژورنال
عنوان ژورنال: Journal of the Institute of Science and Technology
سال: 2016
ISSN: 2146-0574
DOI: 10.21597/jist.2016321839